CN107128514B - Space truss on-orbit assembly system and method using space robot - Google Patents
Space truss on-orbit assembly system and method using space robot Download PDFInfo
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- CN107128514B CN107128514B CN201710295177.2A CN201710295177A CN107128514B CN 107128514 B CN107128514 B CN 107128514B CN 201710295177 A CN201710295177 A CN 201710295177A CN 107128514 B CN107128514 B CN 107128514B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
- B64G4/00—Tools specially adapted for use in space
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Abstract
The invention discloses a space truss on-orbit assembly system and method using a space robot, comprising a multifunctional replenishment cabin and an initial track arranged in the multifunctional replenishment cabin, wherein four space assembly robots are arranged on the initial track; the space assembly robot consists of a three-dimensional tour device and a small satellite, wherein the small satellite is arranged on the three-dimensional tour device; the three-dimensional tour device is arranged on the initial track and can axially move or circumferentially rotate along the initial track; each three-dimensional tour device is provided with two standby rods, one standby rod is a rod which is installed first, and the end part of the standby rod is provided with a connector; according to the invention, the space truss on-orbit assembly scheme is adopted by the variable-configuration robot, so that the problems of low safety, low efficiency, high resource consumption and the like caused by manual assembly of astronauts are effectively solved; the assembly robot designed for the on-orbit assembly truss mechanism has small volume and light weight, can be carried in a plurality of ways by one-time emission, and accords with the development trend of future multi-agent spacecrafts.
Description
[ field of technology ]
The invention belongs to the technical field of robot space operation, and relates to a space truss on-orbit assembly system and method using a space robot.
[ background Art ]
Aiming at the space truss on-orbit assembly mode, the existing researches are mainly divided into two types: the first is the astronaut's manual assembly; the second is teleoperation or autonomous assembly using different types of space robots. For the first approach, the U.S. Raney research center conducted a series of manual assembly studies of astronauts of large spatial structure in the early 70 s to 90 s of the 20 th century, and has proven to be an effective method of constructing large spatial structures. For the second approach, researchers at the american lanley research center developed a telerobotic space truss structure assembly system to assemble an 8 meter diameter truss structure consisting of 12 panels and 102 struts. In addition to space remote robots, some researchers have begun to work on fully autonomous space robot systems. Ueno developed a free-flying robot and specially designed truss assembly tool for testing on-orbit assembly tasks with unconstrained mobility. Skyworks designed by Kanezukun university is a space structure attached mobile robot arm that can easily and freely transport and handle loads ranging from kilogram to ton in a range of several kilometers. NASA jet propulsion laboratories have designed a small, flexible hexapod robot LEMUR for performing complex, fine assembly, inspection and maintenance tasks in spatially narrow areas. NASA johnson aerospace center developed a humanoid space robot Robonaut aimed at mimicking the volume, range of motion, strength and endurance of a space walking astronaut, which can directly use a build tool designed for astronauts. F. Nigl and S.Li et al developed a truss construction robot that could be walked three-dimensionally, which could reach any position of the truss to disassemble and assemble the rods, and designed unique rods and joints.
The above approach to space truss on-track assembly has mainly the following three problems. First, when the space structure is very large, having thousands of parts and assembly steps, manual assembly by an astronaut becomes impractical. Moreover, the outside world activities present a certain risk and require high costs. Secondly, the existing teleoperation assembly robot system has huge volume and poor flexibility and can only be used on a space station platform. Finally, the existing autonomous assembly robot can only independently assemble/disassemble the rod piece or transport the rod piece, and cannot simultaneously complete the two tasks. Moreover, the existing autonomous robot has no space propulsion capability, and cannot perform high-precision attitude control and small-range orbital maneuver on the assembled truss mechanism.
In order to more efficiently, safely and flexibly complete the assembly task of the space truss, and to carry out high-precision attitude control and small-range orbital maneuver on the truss structure, a new autonomous robot assembly method is needed, and the space truss collaborative assembly and distributed control can be realized by transporting and storing the spare rod and the space propeller while assembling the rod.
[ invention ]
The invention aims to overcome the defects of the prior art, and provides a space truss on-orbit assembly system and method using a space robot, which designs a variable-configuration space assembly robot, a multifunctional replenishment cabin, a connector and a driving and driven rod, and realizes the on-orbit construction of the space truss and the combined control requirement of the pose and orbit of the space truss.
In order to achieve the purpose, the invention is realized by adopting the following technical scheme:
the space truss on-orbit assembly system using the space robot comprises a multifunctional replenishment cabin and an initial track arranged in the multifunctional replenishment cabin, wherein four space assembly robots are arranged on the initial track; the space assembly robot consists of a three-dimensional tour device and a small satellite, wherein the small satellite is arranged on the three-dimensional tour device; the three-dimensional tour device is arranged on the initial track and can axially move or circumferentially rotate along the initial track; each three-dimensional tour device is provided with two standby rods, one standby rod is a rod which is installed first, and the end part of the standby rod is provided with a connector; defining a three-dimensional coordinate system, taking the center of a small satellite as an origin, taking the axial direction of an initial orbit as a y-axis, taking the vertical upward direction as a z-axis, and taking the direction which is perpendicular to the y-axis and the z-axis and out of the paper and meets the right-hand rule as an x-axis.
The invention is further improved in that:
the three-dimensional tour device comprises a front driving block and a rear driving block which are hinged together through a hinge, a small satellite is arranged on the top surface of the front driving block, and the small satellite can rotate along a z-axis; the bottoms of the front driving block and the rear driving block are provided with driving grooves meshed with the initial track, so that the driving grooves can translate or reverse on the rod piece; the middle parts of the front driving block and the rear driving block are provided with rod piece storage grooves; the rod piece arranged in the rod piece storage groove can do translational motion along the y-axis direction under the drive of a motor.
Two spare connectors are arranged above the front end face of the rear driving block, and the joint center of each spare connector and the center of each spare rod are in the same plane.
The top angles of a group of opposite surfaces of the small satellite are provided with electric propellers, and the five surfaces of the small satellite are respectively stuck with solar cells.
The initial track comprises a center rod, and a first rod piece, a second rod piece, a third rod piece and a fourth rod piece which are arranged right above, right below and at two sides of the center rod; the plane formed by the first rod piece, the third rod piece and the center rod is vertical to the plane formed by the second rod piece, the fourth rod piece and the center rod; the connector is installed on the center top of center pole, and the terminal of center pole is provided with the bearing structure that is used for supporting whole initial track.
The first rod piece, the second rod piece, the third rod piece and the fourth rod piece are respectively carried with a first assembling robot, a second assembling robot, a third assembling robot and a fourth assembling robot.
An on-orbit assembly method for a space truss using a space robot, comprising the following steps:
1) After the satellite receives the assembly starting instruction, the multifunctional replenishment cabin is started;
2) The initial orbit stretches outwards to a fixed position, and next four assembly robots respectively carry two standby rods to synchronously translate outwards along the initial orbit, so that a front driving block and a small satellite part of each space assembly robot are suspended, and a rear driving block part is meshed with the rods;
3) The hinge drives the front driving block and the small satellite part to lift by 90 degrees, so that the center line of the driving groove of the front driving block and the center of the connector are on the same straight line;
4) Motors in rod storage grooves of front driving blocks of the four assembly robots respectively drive spare rods with connectors into respective driving grooves;
5) The driving motor in the driving groove drives the rod piece to approach the connector, and the rod piece is contacted with the connector and is automatically locked.
Compared with the prior art, the invention has the following beneficial effects:
according to the invention, the space truss on-orbit assembly scheme is adopted by the variable-configuration robot, so that the problems of low safety, low efficiency, high resource consumption and the like caused by manual assembly of astronauts are effectively solved; the assembly robot designed for the on-orbit assembly truss mechanism has small volume and light weight, can be carried in a plurality of ways by one-time emission, and accords with the development trend of future multi-agent spacecrafts; the design of the T-shaped rod clamping mechanism of the robot ensures that the robot can carry two standby rods under the condition of not influencing the assembly, thereby improving the assembly efficiency of the robot; the designed multifunctional replenishment cabin integrates an assembly robot, an initial track, a connector, a rod piece and the like, is not only a base built by a truss, but also a storage room of the rod piece and a standby module, is convenient for rocket launching, and can launch a novel replenishment box in the future to upgrade and expand the functions of the system; the proposed connector with 18 female connectors and active and passive bar method with male connectors provide an effective solution to the problem of stable connection of the truss frame during assembly.
[ description of the drawings ]
FIG. 1 is a block diagram of a variable configuration space robot of the present invention;
FIG. 2 is a front view of the lever clamping and storage mechanism of the present invention;
FIG. 3 is a schematic view of the mounting position of the spare connector of the present invention, wherein a is a front view and b is a left side view;
FIG. 4 is a mounting position of a small satellite electric propulsion unit according to the present invention;
FIG. 5 is a diagram of the mounting relationship of the components of the system of the present invention, wherein a is a left side view and b is a front view;
FIG. 6 is a three view of the multifunctional replenishment pod housing of the present invention, wherein a is a front view, b is a top view, and c is a left view;
FIG. 7 is a schematic illustration of an initial track "cross" configuration of the present invention;
FIG. 8 is a top view of an initial track of the present invention;
FIG. 9 is a front view of an initial track of the present invention;
FIG. 10 is a left side view of the initial track of the present invention;
FIG. 11 is a schematic view of an assembly robot installation of an initial track of the present invention, where a is a front view, b is a top view, c is a left view, and d is an orthogonal view;
FIG. 12 is a schematic view of a connector configuration of the present invention, wherein a is a front view, b is a top view, c is a left side view, and d is an orthogonal view;
fig. 13 is a schematic view of the assembly process of the present invention, wherein a is a front view, b is a top view, c is a left view, and d is an orthogonal view.
Wherein: 1-a three-dimensional tour device; 2-small satellite fraction; 3-front side of the small satellite; 4-the back of the small satellite; 5-a rod stock tank; 6-a driving groove; 7-an electric propeller; 8-a multifunctional supply cabin; 9-initial track; 10-assembling a robot; 11-a first rod; 12-a second rod; 13-a third bar; 14-fourth bar; 15-a central rod; 16-a central connector; 17-a support structure; 18-a first assembly robot; 19-a second assembly robot; 20-a third assembly robot; 21-a fourth assembly robot; 22-a first mounting standby lever carried by the first assembly robot; 23-a first mounting standby lever carried by the second assembly robot; 24-a first mounting standby rod carried by a third assembly robot; 25-a first mounting standby rod carried by a fourth assembly robot; 26-a rear mounting stand-by bar carried by the first assembly robot; 27-the bar to be mounted.
[ detailed description ] of the invention
The invention is described in further detail below with reference to the attached drawing figures:
referring to fig. 1-13, the space truss on-orbit assembly system using the space robot mainly comprises three parts of a multifunctional replenishment cabin, the space assembly robot and an initial orbit. Fig. 5 shows the structural relationship of the parts, and four space assembly robots are radially arranged on an initial track in a cross shape outwards, and the robots can move outwards along the initial track. The initial track is mounted inside the multifunctional replenishment pod and is translatable outwardly. The space assembly robot, the multifunctional replenishment cabin, the connector and the active and passive rod are designed as follows:
1) Space assembly robot
The designed robot combines the three-dimensional tour technology of the frame and the small satellite technology, and designs a unique rod clamping mechanism, so that the robot can realize three-dimensional tour of the frame and avoid collision with the frame while carrying two standby rods.
As shown in fig. 1, the robot mainly comprises a three-dimensional tour device 1 and a small satellite 2.
The three-dimensional tour device 1 consists of two symmetrical parts of a front driving block 1-1 and a rear driving block 1-2, wherein the middle part of the three-dimensional tour device is connected through a hinge, and the three-dimensional tour device can be opened to 90 degrees by being driven by a motor. The rod clamping part of the three-dimensional tour device 1 is designed into a T-shaped groove structure, as shown in fig. 2, one rod can be respectively stored in the rod storage groove 5 at the two ends of the upper part of the T-shaped groove, and the two rods can do translational motion along the y-axis direction under the drive of a motor. The design of the "T" and storage rod translational motion is effective to prevent the robot from colliding with the installed rod during a three-dimensional tour by specific actions. Under the drive of two sets of motors (translation and rotation) which are arranged in an orthogonal mode, a driving gear in a driving groove 6 of the rod at the bottom of the T-shaped groove can be meshed with the rod, so that the whole can translate and overturn on the rod, and the three-dimensional tour capacity is realized. Two spare connectors can be mounted above the front face of the rear drive block 1-2 in the same plane as the spare lever center, as shown in fig. 3.
When one end of the rod piece needs a connector, the standby joint can be controlled to move downwards, so that the center of the joint is aligned with the center of the rod piece, the standby rod moves outwards along the track under the drive of the motor, and then one end of the rod piece is contacted with the standby connector and is automatically connected with the standby connector, so that the rod with the connector is formed.
The front driving block 1-1 is provided with a 1U (10 cm x 10 cm) small satellite, and a degree of freedom is added to enable the small satellite to rotate 360 degrees around the z axis. The small electric thrusters are mounted on the corners of a set of opposite faces (face 3, face 4) of the minisatellite, as shown at 7 in figure 4. The satellites are able to rotate about the z-axis to change the direction of the propellers to meet thrust distribution needs, thereby controlling the truss mechanism for attitude and orbital maneuvers. The five surfaces of the small satellite are stuck with solar cells to supply electric energy.
2) Multifunctional replenishment cabin
The multifunctional replenishment cabin is shown in fig. 5, is not only a base built by a truss, a rod, a storage room of a standby module, but also a replaceable and upgradeable part, and is in butt joint with a system by transmitting a new replenishment cabin, so that the system is supplemented with assembly materials and new functional modules, the expansibility of the system is improved, and the use cost of the system is reduced.
An initial track 9 and four space assembly robots 10 are installed in the shell 8 of the multifunctional replenishment pod.
The multifunctional replenishment cabin shell is a cuboid as a whole, the section of the multifunctional replenishment cabin shell is a square with the size of 60cm multiplied by 60cm, and the length of the multifunctional replenishment cabin shell is 150cm. The front surface of the tank body is firstly removed with a cuboid with a section of 50cm multiplied by 50cm and a height of 15cm, and then a cuboid with a section of 25cm multiplied by 25cm and a height of 110cm is removed, so that the tank body is obtained as shown in fig. 6.
An initial track is arranged in the tank body of the multifunctional replenishment tank, and the cross-shaped configuration and the size of the initial track are shown in figures 7, 8, 9 and 10. The first rod 11, the second rod 12, the third rod 13, the fourth rod 14 and the central rod 15 are cylindrical rods with a length of 60cm and a diameter of 4 cm. The first rod 11, the second rod 12, the third rod 13 and the fourth rod 14 are respectively and symmetrically arranged in the four directions of the center rod 15 in parallel, and the plane formed by the first rod 11, the third rod 13 and the center rod 15 is perpendicular to the plane formed by the second rod 12, the fourth rod 14 and the center rod 15. The central rod 15 is mounted in the center of the "cross" configuration and has a connector 16 attached to the top end for quick mounting of the cross-shaped base structure. The entire configuration is supported and fixed by the support structure 17.
At the initial time, the first, second, third and fourth bars 11, 12, 13 and 14 are respectively mounted with the first, second, third and fourth assembly robots 18, 19, 20 and 21, and as shown in fig. 11, drivers in the three-dimensional tour device driving grooves of the first, second, third and fourth assembly robots 18, 19, 20 and 21 are engaged with the first, second, third and fourth bars 11, 12, 13 and 14 so that the robots can translate and rotate on the bars. The two ends of the top of the T-shaped groove of the robot are respectively provided with a standby rod, one end of one rod is provided with a connector, and the rod with the connector is the rod which is firstly installed.
3) Connector and active-passive rod design
The connector is designed with 18 female connectors, 6 positive connectors, 12 45 angled connectors, as shown in fig. 12, with corresponding mating male connectors at both ends of the rod. When one end of the rod touches the connector, the male connector and the female connector are mutually locked, and the rod is mutually fastened with the connector. The connector may connect each edge of the cube frame and the facing corner oblique side may provide reinforcement. In view of system versatility and installation feasibility, the rod as facing the angular bevel is designed as an active telescopic rod, called active rod, and the corresponding edge is called passive rod. The original length of the driving rod is 100cm identical to that of the driven rod, and when the robot operates the driving rod to touch the 45-degree joint of the connector, the triggering device in the driving rod joint is started to enable the sleeve-type driving rod to extend to be
The driving rod is connected with the connector at the other end of the diagonal line, and the driving rod is installed.
The following describes in detail the embodiment of the robot space on-orbit assembly from the launch to the on-orbit phase.
Step one: the transmitting stage:
the multifunctional replenishment pod carries the space assembly robot with its associated poles and connectors and is launched as a payload of a rocket in combination with a communication satellite to a predetermined orbit.
Step two: in-orbit adjustment stage
When the rocket delivers the supply tank and the satellite to a predetermined orbit, the upper stage of the rocket is separated from the combination of the supply tank and the satellite. And then, the satellite expands the solar sailboard and the communication antenna, and establishes a communication link with the ground control center to receive the control instruction.
Step three: assembly phase
And after the satellite receives the assembly starting instruction, the multifunctional replenishment cabin is started. The initial orbit is extended outwards to a fixed position firstly, and then the first assembly robot 18, the second assembly robot 19, the third assembly robot 20 and the fourth assembly robot 21 each carry two rods and translate outwards for 12cm synchronously along the initial orbit, so that the front driving block 1-1 and the small satellite part of the robots are suspended, and only the rear driving block 1-2 part is meshed with the rods. The hinge then drives the front drive block 1-1 and the satellite portion up 90 deg. so that the center line of the front drive block 1-1 drive slot is collinear with the center of the connector 16. Motors in the front drive block 1-1 reserve tanks of the first, second, third, and fourth assembly robots 18, 19, 20, and 21 drive the pre-installed standby levers of the belt connectors into the respective drive tanks, respectively. The drive motor in the drive slot drives the pre-installed backup rod to approach the connector 16, and the pre-installed backup rod contacts the connector and locks automatically. To this end, a cross-like basic structure has been constructed consisting of individual pre-installed spare poles and connectors 16.
Examples:
the steps of mounting the lever 27 to be mounted will be described below with reference to fig. 13 as an example.
The rear drive block 1-2 of the second assembly robot 19 is separated from the pre-installed spare bar 23 carried by the second assembly robot, and the front drive block 1-1 translates a distance away from the connector 16, with the hinge driving the rear drive block 1-2 into engagement with the pre-installed spare bar 23 carried by the second assembly robot. The rotary drive motors of the front drive block 1-1 and the rear drive block 1-2 are started to drive the robot to rotate 180 ° around the pre-installed standby lever 23 carried by the second assembly robot. The front drive block 1-1 reserve tank translation motor drives the rear mounting reserve rod 26 carried by the first assembly robot to move in a direction approaching the connector 16. The rear drive block 1-2 reserve tank translation motor is then activated until the rear mounting backup bar 26 carried by the first assembly robot is disengaged from the front drive block 1-1. In order to mount the joint to the rear mounting standby lever 26 carried by the first assembly robot, before the front end of the rear mounting standby lever 26 carried by the first assembly robot exceeds the front end of the rear driving block 1-2, the standby connector at the front end of the rear driving block 1-2 is moved downward by the motor until the standby connector is aligned with the center line of the reserve tank. The rear mounted backup bar 26 carried by the first assembly robot moves outwardly in the reserve slot into contact with the backup connector and locks automatically. After the rear mounting backup bar 26 carried by the first assembly robot is disengaged from the front drive block 1-1, the hinge drives the rear drive block 1-2 to lift 90, and then the front drive block 1-1 translates the motor drive robot closer to the connector 16 until the center line of the rear drive block 1-2 drive slot is aligned with the center of the connector 16. The motor in the reserve tank of the rear driving block 1-2 drives the rear mounting standby rod 26 carried by the first assembly robot to enter the driving tank, and then the translation motor in the driving tank of the rear driving block 1-2 drives the rear mounting standby rod 26 carried by the first assembly robot to approach the connector 16, and the rear mounting standby rod 26 carried by the first assembly robot contacts with the connector 16 and is automatically locked. After both the standby bars of the assembly robot are installed, the assembly robot may travel along the frame to the initial track by a set of actions such as rotation, translation, etc. the first bar 11, the second bar 12, the third bar 13, and the fourth bar 14 grasp the new standby bars.
By repeatedly performing the above-described rod mounting steps, the assembly robot can successfully assemble a large space truss mechanism.
The above is only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited by this, and any modification made on the basis of the technical scheme according to the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (4)
1. The space truss on-orbit assembly system using the space robot is characterized by comprising a multifunctional replenishment cabin (8) and an initial track (9) arranged in the multifunctional replenishment cabin (8), wherein four space assembly robots (10) are arranged on the initial track (9); the space assembly robot consists of a three-dimensional tour device (1) and a small satellite (2), wherein the small satellite (2) is arranged on the three-dimensional tour device (1); the three-dimensional tour device (1) is arranged on the initial track (9) and can axially move or circumferentially rotate along the initial track (9); each three-dimensional tour device is provided with two standby rods, one standby rod is a rod which is installed first, and the end part of the standby rod is provided with a connector; defining a three-dimensional coordinate system, taking the center of a small satellite (2) as an origin, taking the axial direction of an initial orbit (9) as a y-axis, taking the vertical upward direction as a z-axis, and taking the direction which is vertical to the y-axis and the z-axis and out of paper and meets the right-hand rule as an x-axis;
the three-dimensional tour device (1) comprises a front driving block (1-1) and a rear driving block (1-2) which are hinged together through a hinge, wherein a small satellite (2) is arranged on the top surface of the front driving block (1-1) and can rotate along the z axis; the bottoms of the front driving block (1-1) and the rear driving block (1-2) are respectively provided with a driving groove (6) meshed with the initial track (9) so that the driving grooves can translate or overturn on the initial track (9); the middle parts of the front driving block (1-1) and the rear driving block (1-2) are provided with a rod piece storage groove (5); the standby rod arranged in the rod piece storage groove (5) can do translational motion along the y-axis direction under the drive of a motor;
two standby connectors are arranged above the front end face of the rear driving block (1-2), and the joint center of each standby connector and the center of each standby rod are in the same plane;
an electric propeller (7) is arranged at the top angles of a group of opposite surfaces of the small satellite (2), and solar cells are adhered to five surfaces of the small satellite.
2. The space truss on-orbit assembly system using a space robot according to claim 1, wherein the initial orbit (9) comprises a center rod (15), and first, second, third and fourth rod members (11, 12, 13, 14) disposed directly above, directly below and on both sides of the center rod (15); the plane formed by the first rod piece (11), the third rod piece (13) and the center rod (15) is vertical to the plane formed by the second rod piece (12), the fourth rod piece (14) and the center rod (15); the central tip of the central rod (15) is fitted with a connector (16), and the end of the central rod (15) is provided with a support structure (17) for supporting the entire initial track (9).
3. The space truss in-orbit assembly system using space robots according to claim 2, wherein the first bar (11), the second bar (12), the third bar (13) and the fourth bar (14) are mounted with a first assembly robot (18), a second assembly robot (19), a third assembly robot (20) and a fourth assembly robot (21), respectively.
4. A method of on-orbit assembly of a space truss using a space robot employing the system of claim 3, comprising the steps of:
1) After the satellite receives the assembly starting instruction, the multifunctional replenishment cabin is started;
2) The initial orbit stretches outwards to a fixed position, and next four assembly robots respectively carry two standby rods to synchronously translate outwards along the initial orbit, so that a front driving block (1-1) and a small satellite part of the space assembly robot are suspended, and a rear driving block (1-2) part is meshed with the standby rods;
3) The hinge drives the front driving block (1-1) and the small satellite part to lift up by 90 degrees, so that the center line of the driving groove of the front driving block (1-1) and the center of the connector are on the same straight line;
4) Motors in rod storage grooves of front driving blocks (1-1) of the four assembly robots respectively drive spare rods with connectors into respective driving grooves;
5) The driving motor in the driving groove drives the standby rod to approach the connector, and the standby rod is contacted with the connector and is automatically locked.
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| CN109483192B (en) * | 2018-11-26 | 2019-11-12 | 北京卫星制造厂有限公司 | A kind of spatial truss unit quick fit system and method based on robot |
| CN110697090B (en) * | 2019-09-04 | 2022-09-02 | 上海宇航系统工程研究所 | Rapid assembly method suitable for assembling space truss structure |
| CN112158360B (en) * | 2020-10-10 | 2022-04-19 | 北京空间飞行器总体设计部 | On-orbit service and maintenance verification method and system |
| CN113188591B (en) * | 2021-04-09 | 2023-08-11 | 苏州大学 | Self-powered multi-mode sensing device and method for space on-orbit assembly robot |
| CN114619219B (en) * | 2022-04-08 | 2022-10-28 | 哈尔滨理工大学 | Space truss is at rail mounting platform |
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